Improve armar7 platform movement

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp

@@ -39,9 +39,11 @@ namespace armarx
             << "The actuator " << cfg->platformName << " has no control mode "
             << ControlModes::HolonomicPlatformVelocity;
 
-        velocitySensor =
-            useSensorValue(cfg->platformName + "asdf")->asA<SensorValueHolonomicPlatformVelocity>();
-        ARMARX_CHECK_EXPRESSION(velocitySensor) << "No sensor value for " << cfg->platformName;
+        const auto sensor = useSensorValue(cfg->platformName);
+        ARMARX_CHECK_EXPRESSION(sensor) << "No sensor value for " << cfg->platformName;
+        velocitySensor = sensor->asA<SensorValueHolonomicPlatformVelocity>();
+        ARMARX_CHECK_EXPRESSION(velocitySensor)
+            << "Sensor value for " << cfg->platformName << " has invalid type";
 
         ramp.setMaxPositionAcceleration(cfg->maxPositionAcceleration);
         ramp.setMaxOrientationAcceleration(cfg->maxOrientationAcceleration);
@@ -50,11 +52,20 @@ namespace armarx
     void
     NJointHolonomicPlatformVelocityControllerWithRamp::rtPreActivateController()
     {
+        const float velX = velocitySensor->velocityX;
+        const float velY = velocitySensor->velocityY;
+        const float velRot = velocitySensor->velocityRotation;
+
         // init velocity ramp
         Eigen::VectorXf state(6);
-        state << velocitySensor->velocityX, velocitySensor->velocityY, 0, 0, 0,
-            velocitySensor->velocityRotation;
+        state << velX, velY, 0, 0, 0, velRot;
         ramp.setState(state, VirtualRobot::IKSolver::CartesianSelection::All);
+
+        NJointHolonomicPlatformVelocityControllerControlData data;
+        data.velocityX = velX;
+        data.velocityY = velY;
+        data.velocityRotation = velRot;
+        reinitTripleBuffer(data);
     }
 
     void